InformationForApp

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Information needed by the App itself:

FROM ALL ROBOTS:

Information Source Destination
RobotID APP
ROBOTTYP (master or slave) APP
POSE (x,y,phi) BaserServer --> RPCB(each) APP
STATE (IDLE or BUSY or ERROR) APP
SUBSTATE (NIL or FREE-NAV or PATH-NAV) APP
MODE (OUTOFSERVICE or MANUAL or AUTO) APP
LASERSCAN LaserServer --> RPCB(each) APP
BATTERYINFO (voltage, current) rpc direct? APP
FREENAVINFO (goal and subgoals) Planner --> RPCB(each) APP
PATHNAVINFO () ?? --> RPCB(each) APP
LASERSTATE (warning and safety fields) LaserServer or Digital IO ??
BOXLOADED (status of inductive sensor for box detection) Digital IO (e.g. BaseServer) ??


FROM MASTER ONLY:

Information Source Destination
IP Address of all Robots MASTER-KB --> RPCB(master) ?? APP or RPC Daemon?
GRIDMAP Mapper or GMapping --> RPCB(master) APP
PATH-NETWORK-LAYOUT from file? APP
PATH-NETWORK STATE PathNavServer --> RPCB(master) APP
LOCATIONS MASTER-KB --> RPCB(master) APP
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